On the Separation Principle in Dynamic Output Controller Design for Uncertain Linear Systems

In this paper, the problem of designing the improper dynamic output controllers for uncertain linear multi-input/multi-output continuous-time systems is considered. In the principal part, the system state coordinate transform is outlined and matrix variable structures are found, defining the solution based on the structured linear matrix inequalities and linear matrix equality. Of principal novelty is the framework related to the system uncertainties with newly introduced inequality structures and their partial factorization. The main results are shown in detail by the example to characterize potential application of the method for quadratic stabilization of uncertain linear systems by the improper dynamic output controllers.